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dc.contributor.authorBhattacharjee, Tapomayukh
dc.contributor.authorGrice, Phillip M.
dc.contributor.authorKapusta, Ariel
dc.contributor.authorKillpack, Marc D.
dc.contributor.authorPark, Daehyung
dc.contributor.authorKemp, Charles C.
dc.date.accessioned2015-05-06T17:04:00Z
dc.date.available2015-05-06T17:04:00Z
dc.date.issued2014-09
dc.identifier.citationBhattacharjee, Tapomayukh; Grice, Phillip M.; Kapusta, Ariel; Killpack, Marc D.; Park, Daehyung; & Kemp, Charles C. (2014). “A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) - 3rd Workshop on Robots in Clutter: Perception and Interaction in Clutter, 14-18 September.en_US
dc.identifier.urihttp://hdl.handle.net/1853/53336
dc.description©2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.descriptionPresented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) - 3rd Workshop on Robots in Clutter: Perception and Interaction in Clutter, 14-18 September, 2014, Chicago, IL.
dc.description.abstractWe present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object types [3], haptic mapping, and geometric planning to efficiently reach locations using whole- arm tactile sensing [4]. We motivate our work, present a system architecture, summarize each component of the system, and present results from our evaluation of the system reaching to target locations in dense artificial foliage.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectDense clutteren_US
dc.subjectHaptic sensingen_US
dc.subjectWhole-arm tactile sensingen_US
dc.titleA Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planningen_US
dc.typePost-printen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Healthcare Robotics Laben_US
dc.contributor.corporatenameBrigham Young University. Department of Mechanical Engineeringen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.embargo.termsnullen_US


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